My code is not working
I tried to make a node that uses tf2 to read a transform of frame 'a_link', and broadcasts another transform called 'b_link' that is one centimetre in the positive y direction from that frame.
It should also publish a pose message to a rostopic with a good name.
This is my code
But it is not working
#!/usr/bin/env python
import roslib
import rospy
import math
import tf2_ros
import geometry_msgs.msg
import turtlesim.msg
if __name__ == '__main__':
rospy.init_node('tf2_transform')
tfBuffer = tf2_ros.Buffer()
listener = tf2_ros.TransformListener(tfBuffer)
rospy.wait_for_service('transform')
while not rospy.is_shutdown():
time_now= rospy.Time.now()
listener.lookupTransform('new_link','a_link',time_now,transform)
br = tf2_ros.TransformBroadcaster()
t = geometry_msgs.msg.TransformStamped()
t.header.stamp = rospy.Time.now()
t.header.frame_id = "end_effector_tip"
t.child_frame_id = end effector
t.transform.translation.x = new_link.x;
t.transform.translation.y = 1+new_link.y;
t.transform.translation.z = new_link.z;
q = tf.transformations.quaternion_from_euler(0, 0, new_link.theta)
t.transform.rotation.x = q[0]
t.transform.rotation.y = q[1]
t.transform.rotation.z = q[2]
t.transform.rotation.w = q[3]
br.sendTransform(t)
if __name__ == '__main__':
rospy.init_node('b_link')
rospy.Subscriber('/%s/pose' 'b_link_transform' b_link.pose )
rospy.spin()
Please format code snippets with the Preformatted text button in the future. It's the one with
101010
on it.And please change the title of your question. 'not working' is way too generic, and will probably not help other users providing useful answers.